cmake_minimum_required(VERSION 3.5)
project(scout_base)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

list(APPEND CMAKE_PREFIX_PATH "/opt/weston_robot/lib/cmake")

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)

find_package(scout_msgs REQUIRED)
find_package(ugv_sdk REQUIRED)

include_directories(
  include
)

set(DEPENDENCIES
  "geometry_msgs"
  "nav_msgs"
  "rclcpp"
  "std_msgs"
  "tf2"
  "tf2_ros"
  "scout_msgs"
  "sensor_msgs"
)

## Main body
# add_library(mobile_base_messenger STATIC
#   src/mobile_base_messenger.cpp
# )
# ament_target_dependencies(mobile_base_messenger geometry_msgs
#   rclcpp tf2 tf2_ros std_msgs nav_msgs sensor_msgs robot_msgs)
# target_link_libraries(mobile_base_messenger westonrobot::wrp_sdk)

add_executable(scout_base_node 
    src/scout_base_ros.cpp
    src/scout_base_node.cpp)
target_link_libraries(scout_base_node ugv_sdk)
ament_target_dependencies(scout_base_node rclcpp tf2 tf2_ros std_msgs nav_msgs sensor_msgs scout_msgs)

install(TARGETS scout_base_node
  DESTINATION lib/${PROJECT_NAME})

install(DIRECTORY launch
  DESTINATION share/${PROJECT_NAME}/)
  
if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
